Redeemable Convertible Preferred Stock Warrants and Common Stock Warrants - Summary of Outstanding Warrants to Purchase Shares of Common Stock (Details) - Series D Redeemable Convertible Preferred Stock Warrants - $ / shares	Jul. 19, 2019	May 09, 2017	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Issuance Date	Jul. 19, 2019	May 09, 2017
Number of Shares of Common Stock Issuable	43,878	33,964	77,842	77,842
Exercise Price	$ 11.31	$ 11.31		$ 11.31
Classification	Equity	Equity
Expiration Date	Jul. 18, 2029	May 08, 2027